This paper presents today and future contribution of mechatronic control technology to information devices such as hard disk drives (HDD) and printers. The purpose of this paper is to show one of paths to improve mutual understandings of mechatronics control technologies among various industries. There are so sophisticated control technologies available in each product, but it is very difficult for engineers to understand features or characteristics of the technologies in different areas. In this paper, after brief overviews of HDD, printer, and their control structures, three viewpoints for designing control systems are proposed, which are (1) control structure, single mode or multi-mode, (2) modeling of plant and disturbances, and (3) how to close your feedback loop, semi-closed or full-closed. From these viewpoints, it may be possible to pick up their features from control technologies applied to specific products, improve mutual understandings, and may find analogy of the control technologies among various products.

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Multiple electrostatic suspension suspends multiple floator with a single power amplifier. The controllability of the parallel-connected double suspension system was previously analyzed, and the conditions to be controllable were shown. To test the analytical results, 1-DOF suspension systems were fabricated, and they composed a parallel-connected double electrostatic suspension system. The feasibility of double electrostatic suspension was demonstrated experimentally. This paper showed a basic model of proposed system, the controllability, and the realization of double electrostatic suspension with the fabricated suspension system. Dynamic characteristics of double electrostatic suspension was researched based on frequency responses.

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This paper describes an analysis of torque characteristics of a noncontact spinning system using linearly actuated magnets. This noncontact spinning system spins the suspended object (here is an iron ball) without contact by the remanent magnetization and the linear movement of four permanent magnets. In this paper, the remanent magnetization point is modeled, and the rotational torque of this mechanism is calculated by IEM (Integral Element Method) analysis. The rotational torque is also measured using a measurement device with strain gauges. According to the IEM analysis results and the experimental results, the rotational torque characteristics of the noncontact spinning system are discussed.

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A wind-tunnel system for spinning body has been proposed to measure hydrodynamic forces acting on the body. In the proposed system, the body is suspended and rotated by electromagnets. The forces are measured from the control signal for suspension. An experimental apparatus was developed which has eight electromagnets around a wind-tunnel and an differential-type optical displacement sensor for detecting the three-dimensional positions of the body. Stable suspension, three-dimensional positioning and rotation of the body were achieved. This paper reports the measurement of the hydrodynamic force acting on the spinning body.

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A robust controller is proposed for clutch-to-clutch shift of a stepped ratio automatic transmission. The control strategy consists of three parts: the feedback controller is derived using μ synthesis, which guarantees the system robustness; the feed-forward controller is designed to improve the tracking performance; the disturbance compensator is used to reduce the effect of the disturbance on the system output. Finally the designed controller is tested on a power-train simulation model, which contains complete drive train and clutch actuators. It is demonstrated that the controller is robust against parameter uncertainties and driving condition variations. Moreover, the discrete implementations with sampling time of 10ms show the potential of the proposed controller to be used in real vehicles.

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This study focuses on how to prevent a pressure surge form happening in a water hydraulic system. In the water hydraulic system, pressure surge emerging after cavitation invokes a serious damage on water hydraulic devices, and also has undesired influence which might make the system unstable. Both controlling a water hydraulic actuator's motion and suppressing a rapid pressure decrease must be archived simultaneously. However this is not possible to achieve with a conventional water hydraulic system, which has only one degree of freedom in its control. Thus, a new control method using two servo valves is proposed. In this paper, the problem of the conventional water hydraulic system is described and a control method to control two servo valves for the purpose of preventing the pressure surge is discussed. As result, validity of the proposed new control method is proved experimentally.

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Bed sore is cellular necrosis due to congestion, shear force or moisture. Thus, in this study, we propose a new type of mat system not to occur bed sore for handicapped people who use a wheelchair. This system uses a pneumatic mat to prevent congestion that is stanched blood flow. That is to say, the device has cloth actuators which are constructed with sponge, a glue film and a cloth. Therefore, the stiffness of each actuator can be controlled by inner pressure, so the contact pressure contribution can be changed by making use of pumps and valves. In this paper, we measured pressure distribution, shear force and moisture by using the proposed system. As the result, the effectiveness of proposed system is verified through some experimental results.

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This paper presents the first prototype of pneumatically-driven forceps manipulator using a simple flexible joint for future miniaturization. A high performance spring component with wire actuation is employed for two-degree of freedom (DOF) bending joint, and two-DOF tendon drive system is implemented by four pneumatic cylinders. Using a continuum model for the kinematics, a PD controller with static and dynamic compensation is designed for the position control, which shows a good performance at 2.0 Hz enough for surgical operations. In addition, the forceps manipulator can estimate external forces using disturbance observer. A link approximation model is introduced to design the observer as the first intuitive approach. The force estimation can be achieved with an accuracy of 0.2 N in the basic straight posture.

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This paper proposes base parameters identification method for hydraulic manipulators. First, the state-space equation of hydraulic manipulators is converted into a linear equation with respect to base parameters which are a set of unknown parameters such as the flow coefficient, the pipeline volume and the pressure loss coefficient. Second, a new parameter identification method is proposed based on the linear equation. Finally, the validity of the proposed method is confirmed via the model validation using an actual manipulator. By the proposed method, not only the manipulator position, but also the pressures of the actual manipulator are close to those of the nonlinear model which is constructed from the identified parameters. Especially, a characteristic response of the actual pressures is also generated by the nonlinear model.

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Today, the advanced age and less children society is growing up rapidly. The care and welfare equipment to support a nursing care of the senior and the disabled are actively researched. In a wearable system, there are power assisted devices using wearable actuators. However, the power assisted device requires many degrees of freedom. The total weight of the wearable devices increases because the number of actuator and control valves increases according to degrees of freedom. Therefore, in this paper, we propose and test a quasi-servo valve by using the small, light-weight and low-cost on/off control valves driven by the pulse width modulation method. The valve consists of two on/off valves and a low cost microcomputer. We also propose the analytical models of the tested valve. The system parameters of the valve are identified. By comparing the experimental results and the calculated results, we confirm that the analytical model of the valve is valid. Finally, we construct the master-slave control system of the bending angle using the tested quasi-servo valve and the flexible bending actuator. We also develop the flexible robot using the flexible pneumatic cylinders and the tested valves. As a result, it is confirmed that the tested valve is useful in both control systems.

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It has been well known that the amplitude of pressure pulsation becomes extremely high when the frequency of the sorce flow pulsation coincides with the resonance frequency of the standing waves. Therefore pump rotational speed or length of a connecting pipe should be designed so as to avoid the resonant modes of the standing waves. The final aim of this reserch is to establish design tips for these parameters and clarify the standing wave characteristics in hydraulic circuits. In this paper, particulary, the influence of the termination characteristics of the circuits on the resonant mode of the standing waves is investigated both numerically and experimentarlly.

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The method to suppress large displacement vibration for a pneumatic isolation table is considered in the present paper. External force can be added to the pneumatic isolation table by increasing or decreasing the air pressure in air springs in this system. In order to suppress large displacement vibration, it is need to switch the control input instantly. Therefore, the plant includes an on-off action and an input time-delay as the control input. It is known that the stabilization of this kind of system is difficult using conventional linear feedback controls such as the optimal regulator. Thus, a method is proposed which ensure stability by changing input based on quantization error evaluation which arises from on-off drive. Furthermore, the proposed method is applied to a pneumatic isolation table and the performances are verified by numerical simulations and experiments.

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JAXA is developing a mobile rover to lunar surface exploration or base construction as a follow-on KAGUYA. Because the lunar surface is covered by regolith, implying an irregular and rough terrain, the rover has difficulty in mobility. Therefore a new low-pressure wheel is recommended for high mobility performance and low power consumption. A low-pressure wheel can change its contact shape and pressure distribution to account for terrain. In this paper, the procedure for the evaluation of drawbar pull calculated by shear stress on the deformable terrain is presented. This procedure is valuable for analyzing the interaction between a low-pressure wheel and the deformable terrain.

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Mobile Robots, which explore craters on the Moon or the Mars, are required mobility to negotiate with sandy slopes on which slippage can easily occur. It is known that such slippage can be reduced by sifting the center of gravity on robots. In this paper, we quantitatively discuss the effect of shifting of the center of gravity on wheeled mobile robots on side slip. We conducted slope-traversing experiments using a wheeled mobile robot under various roll angles and slope angles. Based on the experiments, we found the relationship between robot's roll angle and side slip. Furthermore, we also found that the slip is able to be minimized not by just making the robot horizontal, but by inclining it toward uphill direction more than such attitude. It indicates that to minimize side slip over slopes we have to focus on the mechanics model of wheels and optimize their load distribution.

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The planetary surfaces are covered with soft soil, so the wheel of planetary rover easily slips and loses the traction. This paper presents a terramechanics-based wheel dynamics model to improve the rover mobility via considering the dynamic wheel sinkage. Terramechanics is a study of soil properties and an interaction between the wheel and soft soil. Since terramechanics-based wheel model considers only the static state of wheel sinkage, the wheel model is not applicable to the dynamic condition. Understanding the traction mechanics in the dynamic wheel sinkage is important in order to predict the wheel motion in the static state. We propose the dynamic normal force model to treat the dynamic wheel sinkage via considering the state variation of soil condition. Besides we present the wheel driving model in the dynamic wheel sinkage by considering the shear deformation modulus. We evaluate the proposed models by simulations.

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In future lunar/planetary exploration missions, wheeled rovers will be promising robots to perform wide-area explorations. Wheeled robots, however, are prone to slip in soft terrain: therefore, securing mobility will be a critical issue. This paper first describes a soil-wheel interaction model which is simply found from Coulomb's friction law. The model enables slip-ratio estimation from a combination of wheel load and traction. Second, a simple control methodology, wheel load distribution control, for maintaining vehicle mobility is discussed. Moreover, a six-wheeled robot which implements the control system was developed. The robot has six wheels and six vertical suspensions with built-in linear actuators. Load cells are installed between each wheel and suspension to monitor the wheel load, and positions of wheels are individually controlled by moving the suspensions up and/or down so as to keep the desired wheel loads. In this study, a simple algorithm for distributing equivalent load to every wheel was implemented. A simulation and a series of experiments in an outdoor environment were performed and the effectiveness of the control system was examined.

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In this paper, a comprehensive wheel model for both flexible/rigid wheels driving on deformable terrain is developed. The wheel model exploits a terramechanics-based approach with taking account of pressures generated by wheel elasticity as well as terrain stiffness. Deflection of a (semi-) flexible wheel depends on a relative pressure between the wheel and terrain: the wheel will be significantly deformed on rigid terrain whereas it will be hardly/slightly deformed on soft terrain. The wheel-terrain interaction in the proposed model is divided into three contact sections: wheel front section, wheel deflected (flat) section, and wheel rear section. The stress distribution at each contact section is formulated, and then, the traction force of the wheel is obtained as an integral of normal and shear stresses generated at each section. Simulation studies with varied wheel pressures, such as flexible, semi-flexible, and rigid wheels, are conducted to validate the proposed model. Also, traction performances of flexible/rigid wheels are compared based on a metric called tractive efficiency. The simulation results provide an important finding in terms of an optimal wheel pressure of flexible wheel for better traction.

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Unmanned mobile robots for surface exploration of the moon have been extensively studied and developed. A lunar rover is expected to travel safely in wide area and explore in detail. This paper focuses on the rover mobility on such sandy terrain as lunar surface. This paper deals with dynamic sinkage of lunar rovers. Because of parameter of lunar surface is nonconstant, it is difficult to estimate dynamic sinkage by calculating. We need to get contacting angle between wheel and loose soil on line. Therefore, we develop a sensing wheel with tactile sensors that enable a getting contact angle and estimating dynamic sinkage. In this paper, we introduce the system of a sensing wheel and describe the conclusion using experimental results.

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This paper presents the synthesis procedure of an input profile for a motion control system to simultaneously reduce sinkage and vibration in a planetary rover. The sinkage of the rover changes depending on the degree of a contact force against loose soils in surface of a planet. Through the experiments using the lunar regolith simulant, it is confirmed that the sinkage is largely concerned with acceleration and deceleration in a driving mechanism. Hence, we proposes the method to suppress the sinkage by appropriately designing the acceleration profile with an asymmetric shape. Moreover, the vibration due to flexibility of the wheel is induced by self-motion and we verify the vibration reduction using the command shaping method through the experiment. Consequently, this paper presents the easy design procedure of the acceleration profile and the valuable experimental results.

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Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission can fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have lugs, i.e., grousers, on their surface. In this study, we conducted experiments using two-wheeled testbeds in a sandbox to evaluate the influence of lugs on the traversability of wheeled mobile robots. According to the experimental results, we confirmed that the lugs have a greater effect on the travesability of the mobile robots than the increase of the effective diameter of the wheel. Furthermore, we concluded that the bulldozing force of lugs, rather than shear stress between lugs at the tip, contributes to the traversability, especially over steep slopes.

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This paper describes design and development of planetary exploration rover ground testbed Micro6. Micro6 haves high precision sensors and general purpose computers so that not only the driving test of an irregular ground but also research and development of software can be done. We select the apparatus carried in Micro6 and design the drive mechanism it can fully drive. A fundamental driving test is done on the volcano surface at Mt. Mihara in Izu-Oshima.

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Lunar and planetary explorations have been increasingly planned across the world where mobility on the planetary/lunar surface is needed. In this paper we propose a new type of very small rover - typically with the weight of less than 2kg. Several new ideas are proposed: simplified locomotion mechanism with elastic wheels, extremely small fish-eye camera system, light-weight extension system using shape-memory alloy and tiny observation probe for investigating a hole connected to a lunar lava tube. In this paper, we focus on small typed wheels, especially the running performance of elastic wheels. As first step to develop lunar mobile rovers with high performance, we carried out the experiments (to measure deflection and travesabily loose soil and steppability of proposed elastic wheels). From these results, we confirmed the effect of the elastic wheels.

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This paper describes modeling and simulation for a lunar lander "SELENE-B." The simulation model has been designed on Mechanical Dynamics Software "ADAMS." Body frame consists of rigid bodies, which has four elastic legs. Specific definitions have been applied in order to describe characteristic of honeycomb core, and also in order to express contact dynamics with lunar surface. Parameters setting for contact and friction forces are based on ground tests for landing on the simulant imitating lunar regolith. Representative landing patterns have been simulated, and motion analysis has been examined. Also, stable and unstable landings have been evaluated.

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In the lunar-planetary exploration, most of landers made a landing on flat areas of surface, because there are a lot of rocks craters and hills on lunar-planetary surface. For the next generation lunar-planetary exploration, the development of a highly accurate landing technology is demanded to land on the complex terrain. The navigation-guidance technology and hazard avoidance have been studied for the safe landing. Moreover the development of landing leg is required for the safe landing in the final phase of landing sequence. This paper presents the development of experimental system of active landing leg, and examine the landing shock response. In addition, we consider the effectiveness of active landing leg and the application to the control method of lander's overturn prevention.

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On the landing of a spacecraft, a large shock load leads to undesirable responses, such as rebound and trip. The authors have discussed the control problem of these shock responses by momentum exchange impact dampers (MEIDs). The optimal design parameters of MEIDs for the landing of a spacecraft are investigated. The parameters are crucial for applications of MEIDs. This paper discusses the parameters of MEIDs with single-axis falling type problem, which is the most fundamental problem. It is found that the rebound height is proportional to the mechanical energy of the spacecraft. Thus, the optimal design parameters of the MEIDs correspond to the parameters that minimize the mechanical energy. Then, in order to improve the performance of the MEIDs, a novel MEID - HMEID (Active/Passive-Hybrid-MEID) has been proposed. The HMEID combines actuators with passive elements such as contact springs. Based on the optimal design result of the MEIDs, a stiffness control is applied to the HMEID in order to suppress the mechanical energy further. Simulation studies reveal that the HMEID can effectively reduce the influence of shock responses. The robustness of the HMEID against the stiffness of the landing ground is shown. The feasibility of the HMEID is also discussed. The effectiveness of the HMEID is superior to that of PMEID, even if the actuator has a dynamics with a large electric time constant or force constraint.

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This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. This robot is a reliable system for the exploration on rough terrains, because the rover can continue walking even after overturning. Moreover, this rover can exhibit a rotational motion by utilizing its isotropic shape in addition to quadruped walking motion. This paper introduces dynamic rotational motion as a new locomotion of the rover. In order to operate this motion safely, reasonable attitudes are investigated and specified that can increase the tolerable force acting on the legs. Furthermore, the conditions for stable rotational motion are introduced from the view point of rotational speed and kick speed.

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The authors propose to use a flywheel as a stabilizer for a heavy vehicle by using gyroscopic effect. A typical flywheel is composed of a rotating disk and gimbals which absorb the gyroscopic effect while supporting the rotor. To produce the gyroscopic effect to stabilize the heavy vehicle, the proposed system constrains a gimbal when the roll of the vehicle becomes large and reach beyond the threshold value. The stability of the heavy vehicle with the proposed flywheel system is examined by multibody dynamics simulations and the experiment. It was found that the proposed control system is effective for rollover prevention.

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In recent year, it is reported that roll and lateral vehicle motions are affected by the road input, and the characteristics of vehicle motions change depending on the vehicle speed. However, there are few researches about a suspension control method which takes into consideration with the suspension characteristic that is change of tire side-force caused by suspension stroke and tire side-force. In this paper, new active suspension control method is proposed to reduce the vehicle vibration and vehicle lateral motion due to the road input. Firstly, a vehicle model including the suspension characteristic is constructed. Moreover, the time delay of the road input from the front wheel to the rear wheel is modeled with Pade approximation. Then we formulate the linear parameter varying system taking amount of vehicle speed. The gain-scheduling controller based on the linear matrix inequalities which sets the lateral acceleration of the vehicle to one of controlled outputs is proposed. Finally, in order to verify the effectiveness of the proposed control method, the simulation is carried out by using the full vehicle model. From the result, it was confirmed that the proposed gain-scheduling controller can reduce the vertical and lateral motions caused by road disturbance at a different vehicle speed better than a normal Ho, controller.

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It is well known that a good method for improving fuel economy is to engage the lock-up clutch of the torque-converter. In the lock-up clutch, it is necessary to control the slip speed from lower speed region in order to improve fuel consumption performance. In the control system of the lock-up clutch, there is a case in which a rate limiter is inserted in the control input to reduce a shock or an uncomfortable feeling to drivers when the lock-up clutch is connected. However, the rate limiter may cause a windup effect that degrades a control performance. Thus, in this paper, we apply three anti-windup methods to the control system of the lock-up clutch, and the effectiveness of each method is evaluated by simulations.

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Electric power conservation technologies for electric vehicles have been an active area of research mainly for purpose of cruising range extensions. In the present study, the energy loss owing to dissipation by slippage during acceleration is studied and analytical solutions are derived. The energy conservation method via driving force distribution for an accelerating four-wheel drive vehicle is investigated. The driving forces are distributed such that the slip ratios of the front and rear wheels are equalized. It is quantitatively confirmed by the numerical simulations that the energy loss in a four-wheel drive vehicle can be less than half of that in a front- or rear-wheel drive vehicle.

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This paper deals with a new energy saving urban transportation system called "EcoRide". The vehicle that does not have on-board driving devices runs using potential energy by the application of roller coaster technologies. The new urban transportation system is needed to be considered of ride comfort in traveling direction for using the vehicle system as public transportation system. Therefore, this paper proposes speed control design approach of vertical track geometry. At first, dynamic characteristics of energy saving urban transportation system was brought out. Then, speed control design approach was proposed by using dynamic characteristic charts.

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This paper presents the development of a control system for ecological driving of a vehicle. Information of traffic signals is considered to improve the fuel mileage. It is assumed that the car receives traffic signal information by Intelligent Transportation Systems (ITS). Model predictive control is used to calculate optimal vehicle control inputs by predicted traffic signal information. The performance of the proposed method was analized through the computer simulation. It was observed that fuel economy is greatly improved compared with the typical human driving.

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Energy saving technology by using intelligent transportation systems (ITS) has been developed in energy-saving ITS project. Automatic platooning is studied to save energy cost by reducing the air resistance. To put into the practical use, it is very important to keep driver's safety during the platoon-driving. Brake system of platoon-driving truck is required of high reliability to driver's safety. Therefore, an improvement of a brake system safety for platoon-driving was developed in this research. At first, a virtual experimental platform was realized by integrating truck simulation software and platooning cruise control algorithm into a universal driving system. By using the experimental platform, on the assumption of emergent stop of preceding truck during automatic platooning, driver behaviors for emergent avoidance in following truck are studied. Especially, braking operations are analyzed in different maximum braking decelerations of the following trucks. By using results of the driving simulator, the brake system was improved. As countermeasures against brake safety, two approaches were proposed in this paper. One countermeasure was to put a secondary brake system which behaved in a fail situation of the main brake system. Another one was to adjust maximum deceleration in each experimental truck. The safety of the brake system was improved by setting up of these functions to the trucks.

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A railway wheelset experiences the problem of hunting motion above a critical speed, which is known as a flutter-type self-excited oscillation due to a nonconservative contact force acting between wheels and rails. In order to improve the running performance on the straight rail, the utilization of a gyroscopic damper is proposed. The validity of the proposed method is theoretically and experimentally confirmed for the increase of the critical speed of the hunting motion. In this paper, more study considering constant curve was done.

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Safety and reliability is important for the design of the service robot in the symbiosis space. This study addresses the two wheeled inverted pendulum type mobile robot with self-righting mechanism in order to adopt a mobile unit of a tour guide robot. Some problems of the self-righting mechanism were clearly existed from the results of some conventional study. The problems were a lack of a stalling torque and an attitude angle leaned backward when moving a slope or a step. The center of gravity movement mechanism using an air cylinder system was adopted in order to solve these problems in this paper. The experimental results indicated that the adjustment of the center of gravity position can be achieved adaptively for the attitude angle of the robot, and the effectiveness of the proposed mechanism for the attitude control of inverted pendulum type mobile robot with self-righting mechanism.

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In this research, we study mechanical hybrid system for automobile using flywheel and CVT. In this paper, we present the experimental motor-driven test results which imitated vehicle installation using energy recovery system consisted of flywheel and CVT, and propose the energy recovery efficiency of the system. We evaluated the characteristic of the mechanical energy loss of the recovery system by coast down operation. From the measured data and proposed energy recovery efficiency evaluation formulation, we evaluated the energy recovery efficiency of the recovery system.

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An automobile loses its running stability when it slips due to the rapid acceleration, deceleration or braking. The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. The slip ratio determined by the car-body speed and the wheel speed. We have used a disturbance observer for estimating the car-body speed because it is difficult to measure. However, the method by the disturbance observer has a ploblem such as the speed includs a lot of errors. On the other hand, that using GPS has little of errors. So, we propose a new drive control system using GPS.

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Active steering utilizing steer-by-wire technology has been investigated to realize better vehicle steering and stability. For actual driving, steering control systems required to be designed such that they are robust against physical parameter error, crosswind disturbance and sensor noise. This paper proposes an active steering control method of front steering vehicle using output disturbance estimation method based on sliding mode observer. The effectiveness of our proposed method is validated through numerical simulation.

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Recently, servo presses have become widely used in manufacturing companies since they have the capability of high accuracy and free motion of the slide. This paper describes the optimum trajectory to achieve target values of the bottom dead point and the contact force between the slide and the die cushion (DC), and shows its implementation method. The optimum trajectory is derived using final-state control by dividing into two stages from the collision of the slide and DC until reaching the bottom dead point. Effectiveness from the viewpoint that controlled the DC load and the bottom dead point is shown by using two degrees of freedom control system as a method for following to the optimum trajectory.

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In this paper, we propose a new design method for stage positioning control of atomic force microscope (AFM). Our controller contains switching action to cope with discontinuous disturbance that is not satisfied matching condition. Since the control input signal is employed to draw a sample surface shape in the AFM system, we introduce a smoothing method in our control law to reduce undesired high-frequency switching signals.

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Chaotic librational motion of tethered satellite systems in elliptic orbits has been attracting researchers recently, and some papers have been published. However, those papers have only conducted numerical simulations. The main objective of this paper is to study chaotic librational motion of a tethered satellite system in elliptic orbits on the ground experimentally, and to verify the existence of periodic librational motions of the tethered satellite system. In addition, an application of delayed feedback control using change of tether length to the chaotic pitch motion of a tethered satellite system in elliptic orbits is investigated experimentally.

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